Hybrid actuator

ABSTRACT

A hybrid of the pneumatic and hydraulic actuators for combining pneumatically powered actuation with incompressible and controllable hydraulic damping in order to achieve smooth displacement, rapid stopping and steady and accurate positioning of the hybrid actuator in which hydraulic damping of a pneumatic actuator is obtained through utilizing positive-displacement hydraulic actuator means with zero volumetric differential.

This is a Div. of Ser. No. 09/470,733 filed Dec. 23, 1999 Pat. No.6,481,335.

BACKGROUND OF THE INVENTION

The present invention relates to hybrid devices of the pneumatic andpositive-displacement hydraulic actuators generally named“hydropneumatic actuator”. A hydropneumatic actuator per the presentinvention has a broad spectrum of applications in many industrialfields, and can be used for actuating a variety of machine parts andobjects. More particularly, this invention relates to improvements inpneumatic actuators utilizing positive-displacement zero volumetricdifferential hydraulic dampening means for achieving smoothdisplacement, rapid stopping and steady, and accurate positioning of theactuator.

Pneumatic actuators (piston-cylinders, rotary actuators, etc.) aregenerally advantageous in respect to low purchase and operation costover positive-displacement hydraulic actuators. The simplicity of usingone centralized station producing compressed air (which in someinstances is capable of supplying a whole plant with air power), cheapof-the-shelf pneumatic hardware and means of control (such as hoses,fittings, switches, valves, etc.) makes pneumatics almost a plug-intechnology.

Pneumatic actuators, however, have certain disadvantages. For example,they suffer rapid accelerations (which normally happens at the beginningof actuation) and “creeping” (when the compressed air is cut off, butthe actuator keeps moving). These effects are attributed to thecompressibilty of air. Using pneumatic actuators it is very difficult toachieve accurate control of speed and displacement, or maintain a steadyposition of an actuator. In fact, achieving the quality of motion andposition control equivalent or even any close to the quality of motionand position control routinely achievable by positive-displacementhydraulic systems is practically unrealistic.

Positive-displacement hydraulic actuators, on the other hand, offer anexcellent motion and position control, but the cost of hydraulic systemsas well as the maintenance of hydraulics is high. In addition, mosthydraulic systems require individual pump stations, which makes themeven more expensive and further complicates the their usage.

The present invention offers an inexpensive hybrid actuator that allowsto combine the advantages of the pneumatic and positive-displacementhydraulic actuation. The present invention gives a viable alternative tothose areas of the industry where the need in accurate control of motionand position is contradicted by a low cost requirement.

It is known in the art to utilize positive-displacement hydraulicactuators in combination with pneumatic actuators. In such hybrids adisplacement that takes place in a pneumatic actuator is beingtranslated into a displacement of a positive-displacement hydraulicactuator filled with dampening fluid, thus causing a flow of dampeningfluid in the hydraulic actuator. The accurate control of motion andposition is then achieved through controlling the flow of dampeningfluid using a variety of optional valve means and their combinations.

U.S. Pat. No. 2,624,318 to B. Walder, et al. shows a pneumatic cylinderwith a hollow piston rod serving as a housing unit for a hydraulicactuator containing dampening fluid which travels from one side of thehydraulic actuator plunger to the other.

This invention uses a single rod hydraulic actuator for dampening thepneumatic cylinder. The obvious disadvantage of such an arrangement isthe presence of a volumetric differential in the dampening cylinder(that is natural for single rod hydraulic actuators). To compensate forthe volumetric differential of the dampening hydraulic actuator thedevice is equipped with an additional expendable reservoir forreceiving, containing and returning back to the system differentialvolumes of dampening fluid.

U.S. Pat. No. 3,146,680 to James F. Hutter, et al. shows a hydraulicallycontrolled pneumatic cylinder with a hollow piston rod utilized as thehousing unit of a single rod hydraulic actuator. The hollow piston rodof the pneumatic cylinder is filled with oil. The two chambers of thehydraulic actuator are connected through an oil reservoir with afloating cover and a valve means that allow to control the oil flowbetween the two chambers of the cylinder.

Similar to the first prior art described, this invention uses a singlerod hydraulic actuator (with a natural volumetric differential), and anexpandable oil reservoir to compensate for the volumetric differentialof the hydraulic actuator.

The expandable reservoirs used in both cases are in essence a form of ahydraulic accumulator means and, thus, are equipped with some type of abuilt-in spring (mechanical, pneumatic, etc.) that makes themexpandable. At the same time, the built-in spring reintroduces the maindisadvantage of a true pneumatic actuator—compressibility of the media.Therefore, the utilization of expandable reservoirs defeats the veryobject or minimizes the extend of improvement attempted by the priorarts described above.

In addition, the complex switches and valve means utilized to controlthe fluid transfer between the chambers of the hydraulic actuator andthrough the expandable reservoirs complicate such hybrid actuators,making them more expensive, and less reliable.

U.S. Pat. No. 3,313,214 to Nathan Ackerman shows a hydropneumatic feed—ahydrid of pneumatic and single rod hydraulic cylinders. Thishydropneumatic feed also includes a spring-loaded fluid reservoir of anexpandable nature so to compensate for the volumetric differential ofthe single rod hydraulic cylinder, which is built into a piston rod ofthe pneumatic cylinder. Therefore, this hydrid shall suffer the samedisadvantages as the prior arts discussed above.

U.S. Pat. No. 3,678,805 to Henry Walter Weyman shows a pneumaticcylinder assembly incorporated with single rod hydraulic dampening. Inthis invention a built-in spring-loaded fluid reservoir of an expandablenature is also used to compensate for the volumetric differential of thesingle rod dampening hydraulic cylinder.

U.S. Pat. No. 5,735,187 to Bert Harju shows a pneumatic cylinder with anintegrated hydraulic control system and a single rod hydraulic dampeningcylinder. The arrangement of this invention does not show any specialmeans to compensate for the volumetric differential natural to a singlerod hydraulic cylinder. Thus, in order for the hybrid cylinder to befunctional the single rod hydraulic actuator shall be partially filledwith dampening fluid. In fact, the total volume of the dampeninghydraulic fluid shall be no greater than the full volume of the smallchamber of the single rod hydraulic dampening cylinder. Therefore, thelarger chamber of the hydraulic actuator per this invention will developa vacuum gauge pressure at all positions of the plunger except theterminal position at which the plunger is fully retracted. Due to thepresence of a vacuum gauge pressure in one of the chambers thearrangement of this invention will suffer the same disadvantage of mediacompressibility as all the prior arts discussed above.

The concept of a hybrid of positive-displacement hydraulic and pneumaticactuators was practically utilized in commercially available devicesnamed “Cyl-Check” by Allenair Corporation. The “Cyl-Check” designarrangement, however, uses single rod hydraulic dampening cylinders andspring-loaded fluid reservoirs as well, to compensate for a volumetricdifferential of the single rod dampening hydraulic actuators.

Whatever the precise merits, features and advantages of the above citedreferences, all of them suffer the same main disadvantage attributed tothe use of dampening hydraulic actuators with positive volumetricdifferential. Thus, none of them achieve or fulfill the goal ofproviding an inexpensive technology which combines the advantagesseparately inherent to pneumatic and positive-displacement hydraulicactuation.

SUMMARY OF THE INVENTION

It is therefore, a principle object of the present invention to providea hydropneumatic actuator capable of smooth actuation which speed andpositioning can be controlled with high level of accuracy.

Another object of the present invention is to provide a free of“creeping” and rapid speed changes hydropneumatic actuator powered bycompressed gasses and yet.

It is also an object of the present invention to provide an inexpensiveand reliable hydropneumatic actuator.

Yet another object of the present invention is to provide ahydropneumatic actuator capable of rapid and accurate stops in anyrequired position.

The present invention achieves the forgoing objectives by the use ofpneumatic actuators combined with a positive-displacement hydraulicdampening means with zero volumetric differential (such as double rodhydraulic actuators with constant diameter of the rod on both sides ofthe piston, bellows with equal volumetric to linear displacement ratios,etc.) which allows dampening fluid transfer between its chambers withoutproducing vacuum as well as excessive amounts of dampening fluid (thatwould require additional spring-loaded fluid reservoirs of an expandablenature).

Such hydropneumatic actuators are simple by design, and inexpensive dueto the small number of components from which they can be constructed.The majority the components can be mass produced or off-the-shelf items.

Further objects and advantages of this invention will become apparentfrom the consideration of the drawings and ensuing description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1a shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a first embodiment of the present invention.

FIG. 1b shows a partial enlarged view (of the area encircled on FIG. 1a)of the first embodiment of the present invention.

FIG. 2 shows a longitudinal sectional view of a hydropneumatic actuatorof a second embodiment according to the present invention.

FIG. 3a shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a third embodiment of the present invention.

FIG. 3b shows a partial enlarged view (of the area encircled on FIG. 3a)of the third embodiment of the present invention.

FIG. 4 shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a fourth embodiment of the present invention.

FIG. 5 shows a longitudinal sectional view of a hydropneumatic actuatorillustrating a possible design arrangement of positive-displacementhydraulic dampening means according to a fifth embodiment of the presentinvention.

FIG. 6a shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a sixth embodiment of the present invention.

FIG. 6b shows a partial enlarged view (of the area encircled on FIG. 6a)of the sixth embodiment of the present invention.

FIG. 7a shows an isometric view of a hydropneumatic actuator of aseventh embodiment according to the present invention.

FIG. 7b shows an isometric view of an exploded assembly with encircledbroken-out section exposing the internal structure per the seventhembodiment of the present invention.

FIG. 7c is another isometric view of the same exploded assembly per theseventh embodiment of the present invention (shown from the sideunexposed on FIGS. 7a-7 b).

FIG. 7d shows a partial enlarged view (of the area encircled on FIG. 7b)of the seventh embodiment of the present invention.

FIG. 8 is an isometric view of a hydropneumatic actuator of an eighthembodiment according to the present invention.

FIG. 9 is another isometric view of the same hydropneumatic actuator perthe eighth embodiment of the present invention (shown without the frontcover and with a broken-out section of the housing unit to indicate theinternal structure of the pneumatic elements of the actuator).

FIG. 10 is another isometric view of the same hydropneumatic actuatorper the eighth embodiment of the present invention (shown with yetanother broken-out section of the housing unit to indicate the internalstructure of the hydraulic elements of the actuator).

FIG. 11 is another isometric view of the same hydropneumatic actuatorper the eighth embodiment of the present invention (shown with twobroken-out sections of the housing unit to indicate the internalstructure of the hydraulic channels and details hidden on FIGS. 9 and10).

FIG. 12a is an isometric view of a hydropneumatic actuator of a ninthembodiment according to the present invention shown with a broken-outsection of the housing unit, to indicate the internal structure of thehydraulic and mechanical elements of the actuator.

FIG. 12b shows a partial enlarged view (of the area encircled on FIG.12a) of the ninth embodiment of the present invention.

FIG. 13a shows a longitudinal sectional view of a hydropneumaticactuator according to a tenth embodiment of the present invention.

FIG. 13b shows a partial enlarged view of an eleventh embodiment of ahydropneumatic actuator similar to the tenth embodiment but withdifferent type of dampening fluid flow governor means.

FIG. 13c shows a partial enlarged view of a twelfth embodiment of ahydropneumatic actuator similar to the tenth embodiment but with yetdifferent type of dampening fluid flow governor means.

FIG. 14 shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a thirteenth embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1a and FIG. 1b show a longitudinal sectional view of ahydropneumatic actuator according the first embodiment of the presentinvention and a partial enlarged sectional view of the circled area onthe same sectional view.

The hydropneumatic actuator shown on FIG. 1a and FIG. 1b is generallyconstructed of a pneumatic actuator 3 (which according to the firstembodiment of the present invention is presented by a pneumaticcylinder), a positive-displacement hydraulic actuator (which accordingto the first embodiment of the present invention is presented by ahydraulic actuator built into the pneumatic actuator 3) in the followingreferred to as “hydraulic actuator”, a dampening fluid path 24 a (shownon FIG. 1b), and a dampening fluid flow governor means 27 (shown on FIG.1b).

The pneumatic actuator 3 is further comprised of a pneumatic actuatorhousing unit, composed of a hollow cylindrical body 6, a front closure9, fixedly mounted at the front end of the hollow cylindrical body 6, arear closure 12, fixedly mounted at the rear end of the hollowcylindrical body 6, and a pneumatic actuator actuation means 15 (whichaccording the first embodiment of the present invention is presented bya cylindrical plunger formed with a rod 18) slidably disposed inside thehollow cylindrical body 6.

The pneumatic actuator actuation means 15 divides the active volume ofthe chamber inside the hollow cylindrical body 6 into two chambers:chamber 45 a and chamber 45 b.

The front closure 9 is formed with an air channel 39. The rear closure12 is formed with an air channel 42. Through the air channels 39 and 42compressed air can be provided to the chambers 45 a and 45 brespectively, to power the pneumatic actuator actuation means 15.

The rod 18 of the pneumatic actuator 3 is formed hollow with an axialcylindrical bore which allows the rod 18 to serve a function of a bodyfor a hydraulic actuator housing unit.

The hydraulic actuator housing unit further includes a hydraulicactuator front closure 33 (fixedly mounted inside the axial cylindricalbore of the rod 18) and a hydraulic actuator rear closure 36 (fixedlymounted at the rear end of the axial cylindrical bore inside the rod18).

Thus, the hydraulic actuator housing unit is composed of the hollow rod18 assembled together with the hydraulic actuator front closure 33 andthe hydraulic actuator rear closure 36.

The hydraulic actuator further comprises a hydraulic actuator actuationmeans 21 which, according to the first embodiment of the presentinvention, is presented by a cylindrical plunger formed with a doublerod 30. The hydraulic actuator actuation means 21 is slidably disposedwithin the axial cylindrical bore inside the rod 18, whereby, thehydraulic actuator actuation means 21 divides the chamber inside thehollow hydraulic actuator housing unit into a first hydraulic chamber 48a and a second hydraulic chamber 48 b. In the following, the totalvolume of the first hydraulic chamber and the second hydraulic chamberwill be referred to as “active volume” of the hydraulic actuator.

The double rod 30 has a constant diameter, which is equal on both sidesof the hydraulic actuator actuation means 21. This allows to achieve anequal displacement area of the hydraulic actuator actuation means 21 inboth hydraulic chambers, 48 a and 48 b, of the hydraulic actuator. Thedesign arrangement such as described provides conditions under which thevolume of dampening fluid displaced from one hydraulic chamber of thehydraulic actuator is always equal to the volume of dampening fluidreceived by the opposite hydraulic chamber of the hydraulic actuator. Inthe following such conditions will be referred to as “zero volumetricdifferential”.

The front closure 33 and rear closure 36 of the hydraulic actuator areformed with channels (not shown) for filling the active volume of thehydraulic actuator and all the adjacent hydraulic cavities with asuitable dampening fluid. The active volume of the hydraulic actuatorand all the adjacent hydraulic cavities are completely filled withdampening fluid and sealed with sealing means (not shown).

Hydropneumatic actuator, in accordance with the first embodiment of thisinvention, further includes the dampening fluid path 24 a formed as abore through the hydraulic actuator actuation means 21 which provides achannel for dampening fluid corresponding between the first and thesecond hydraulic chambers (48 a and 48 b respectively) during theoperation of the hydraulic actuator.

Further, hydropneumatic actuator of the first embodiment includes thedampening fluid flow governor means 27 installed in series with thedampening fluid path 24 a in the way of the flow of dampening fluidcorresponding between the hydraulic chambers 48 a and 48 b in eitherdirection. The governor means 27 impedes the rate of dampening fluidflow between the chambers 48 a and 48 b during hydraulic actuatoroperation, and thus, provides control over dampening fluid transfer.According to the design arrangement of the first embodiment of thepresent invention, the function of the dampening fluid flow governormeans 27 is carried by a permanent orifice 51 (shown on FIG. 1b).

To enable the transfer of the displacement generated by the pneumaticactuator into the displacement of the hydraulic actuator, the pneumaticand the hydraulic actuators of the first embodiment are coupled. Inaccordance with the first embodiment of this invention the housing unitof the hydraulic actuator housing unit is being coupled with thepneumatic actuator actuating means due to the fact that pneumaticactuator actuation means 15 formed with a rod 18 is hollow andsimultaneously serves the function of the body of the hydraulic actuatorhousing unit. Further, the hydraulic actuator actuating means 21 arebeing coupled with the pneumatic actuator housing unit through the rearend of the double rod 30 of the hydraulic actuator actuation means 21being fixedly connected to the rear closure 12 of the pneumatic actuator3 (for example, by threaded fastener means as shown on FIG. 1a).According to the first embodiment, the connection between the double rod30 and the rear closure 12 is being sealed to prevent leakage ofcompressed air from the chamber 45 b of the pneumatic actuator 3.

The type of connection and sealing should not be construed aslimitations on the scope of the invention. In fact it is widely optional(for example the sealing can be done with o-rings, air tight clampingmeans, sealing compounds, or by pressing, swaging, gluing, welding,brazing, etc.)

The front end of the double rod 30 is free to move inside the rod 18 ofthe pneumatic actuator 3.

When compressed air is let into the channel 39 and further to thechamber 45 a it causes the pneumatic actuator actuation means 15 to moverearward. Respectively, when compressed air is let into the channel 42and further to the chamber 45 b it causes the pneumatic actuatoractuation means 15 to move forward. The hollow rod 18, as a solid partof the pneumatic actuator actuation means 15, moves with the pneumaticactuator actuation means 15, and, simultaneously, as a solid part of thehydraulic actuator housing unit makes a displacement with respect to thehydraulic actuator actuation means 21. The hydraulic actuator actuationmeans 21, being fixedly connected to the rear closure 12 through thedouble rod 30, therefore, remain stationary with respect to thepneumatic actuator housing unit.

During the displacement of the rod 18 with respect to the hydraulicactuator actuation means 21 the dampening fluid contained in the activevolume of the hydraulic actuator is being effectively redistributedbetween the first and the second hydraulic chambers, 48 a and 48 b, ofthe hydraulic actuator. The dampening fluid transfer occurs through thedampening fluid path 24 a and the dampening fluid flow governor means27, whereby dampening of the pneumatic actuator rapid speed changestakes place.

Due to the zero volumetric differential of the hydraulic actuator, thevolume of dampening fluid displaced from one of the hydraulic chambers(48 a or 48 b) and receptively received by the other hydraulic chamber(48 b or 48 a) of the hydraulic actuator always remains even. Whereby,the hydropneumatic actuator per the present invention provides hydraulicdampening by a self-contained, completely filled with fluid hydraulicactuator that is inherently free from the compressibility effect, andtherefore, simultaneously offers the advantages of creeping free smoothdisplacement, steady positioning and simplicity of design.

While the above description contains many specificities, these shouldnot be construed as limitations on the scope of this invention, butrather as an exemplification of one preferred embodiment thereof. Manyvariations are possible even within the scope of the first embodimentgeneral design arrangement. For example, the permanent orifice thatperforms the function of the dampening fluid flow governor means 27 canbe substituted by a combination of a shut-off valve and a permanentorifice, which would allow the hydropneumatic actuator to make suddenand steady stops and high accuracy positioning. Another example would bethe utilization of a valve with external analog or digital control ofthe orifice, in which case an additional speed control would becomepossible.

FIG. 2 shows a longitudinal sectional view of a hydropneumatic actuatoraccording the second embodiment of the present invention.

The hydropneumatic actuator per the second embodiment of the presentinvention is generally constructed of a pneumatic actuator 3, twopositive displacement hydraulic actuators built into pneumatic actuator3, three dampening fluid paths 24 b, 24 c and 24 d, and a dampeningfluid flow governor means 27.

The pneumatic actuator 3 is further composed of a pneumatic actuatorhousing unit which comprises a hollow cylindrical body 6, a frontclosure 9, fixedly mounted at the front end of the hollow cylindricalbody 6, a rear closure 12, fixedly mounted at the rear end of the hollowcylindrical body 6, and pneumatic actuator actuation means 15 (formed asa cylindrical plunger) with a rod 18. The pneumatic actuator actuationmeans 15 is slidably disposed within the hollow cylindrical body 6 anddivides the active volume inside the hollow cylindrical body 6 into twochambers 45 a and 45 b.

The front closure 9 is formed with an air channel 39, and the rearclosure 12 is formed with an air channel 42. The channels allowcompressed air to be provided to the chambers 45 a and 45 b respectivelyto power the pneumatic actuator actuation means 15.

According to the second embodiment the pneumatic actuator actuationmeans 15 are formed with two cylindrical bores parallel to the main axisof the rod 18, with each bore forming a cylindrical body for onehydraulic actuator.

Each one of the two hydraulic actuators is further comprised of ahydraulic actuator front closure 33 (fixedly mounted at the front end ofthe cylindrical body inside the pneumatic actuator actuation means 15),and a hydraulic actuator rear closure 36 (fixedly mounted at the rearend of the cylindrical body inside the pneumatic actuator actuationmeans 15).

The pneumatic actuator actuation means 15, assembled with the twohydraulic actuator front closures 33 and the two hydraulic actuator rearclosures 36 composes two hydraulic actuator housing units for twopositive displacement hydraulic actuators.

Each one of the two hydraulic actuators further comprises one hydraulicactuator actuation means 21 (which according to the second embodiment ofthe present invention is presented by a cylindrical plunger formed witha double rod 30) each slidably disposed within one of the twocylindrical bores inside the pneumatic actuator actuation means 15. Eachhydraulic actuator actuation means 21 divides active volume of thehydraulic actuator housing unit it has been placed in into a firsthydraulic chamber 48 a and a second hydraulic chamber 48 b.

Each double rod 30 has a diameter equal on both sides of the hydraulicactuator actuation means 21, whereby each of the two hydraulic actuatorsis a zero volumetric differential hydraulic actuator.

The hydraulic actuator closures 33 and 36 are formed with channels (notshown) for filling the total active volume of the two hydraulicactuators and all adjacent hydraulic cavities with a suitable dampeningfluid. The first and the second hydraulic chambers 48 a and 48 b of eachhydraulic actuator and all adjacent hydraulic cavities are completelyfilled with dampening fluid and sealed with sealing means (not shown).

In accordance with the second embodiment of this invention, thepneumatic actuator actuation means 15 are formed with the threedampening fluid paths 24 b, 24 c and 24 d. The dampening fluid path 24 cis formed for connecting together the two first hydraulic chambers 48 aof both hydraulic actuators. The channel 24 d is formed for connectingtogether the two second hydraulic chambers 48 b of both hydraulicactuators. The channel 24 b is formed for connecting together the twofirst hydraulic chambers 48 a with the two second hydraulic chambers 48b of both hydraulic actuators.

The pneumatic actuator actuation means 15 further comprises a dampeningfluid flow governor means 27 placed in the way of the dampening fluidcorresponding between the two first hydraulic chambers 48 a and the twosecond hydraulic chambers 48 b. Per the second embodiment of the presentinvention, the dampening fluid flow governor means 27 is an adjustableneedle valve 57 that allows for fine adjustment to the rate of dampeningfluid flow.

Each double rod 30 is fixedly clamped between the front closure 9 andthe rear closure 12 of the pneumatic actuator. Thus, both of thehydraulic actuator actuation means remain stationary with respect to thepneumatic actuator housing unit.

When compressed air is let into the channel 39 and further to thechamber 45 a it causes the pneumatic actuator actuation means 15 to moverearward. Respectively, when compressed air is let into the channel 42and further to the chamber 45 b it causes the pneumatic actuatoractuation means 15 to move forward. Being at the same time a part of thehydraulic actuator housing unit with movement in either direction, thepneumatic actuator actuation means 15 make a correspondent displacementwith respect to the two hydraulic actuator actuation means 21 (which arestationary with respect to the pneumatic actuator housing unit). Duringthis displacement the dampening fluid contained in the active volume ofthe two hydraulic actuators is being effectively redistributed betweenthe two first and the two second hydraulic chambers, 48 a and 48 b, ofthe hydraulic actuators. The dampening fluid transfer occurs through thedampening fluid paths 24 b, 24 c and 24 d, and the dampening fluid flowgovernor means 27, whereby dampening of the pneumatic actuator's rapidspeed changes takes place.

Due to the zero volumetric differential of the two hydraulic actuators,the volume of dampening fluid displaced by the two first (second)hydraulic chambers 48 a (48 b) and receptively received by the twosecond (first) hydraulic chambers 48 b (48 a) of the hydraulic actuatorsalways remains even. Whereby, the hydropneumatic actuator per the secondembodiment of the present invention provides hydraulic dampening by aself-contained, completely filled with fluid hydraulic actuator that isinherently free from the compressibility effect and, therefore, offersthe advantages of smooth and free of creeping displacement, steadypositioning and simplicity of design all at the same time.

FIG. 3a and FIG. 3b show a longitudinal sectional view of ahydropneumatic actuator per the third embodiment of the presentinvention.

The hydropneumatic actuator of the third embodiment is generallycomprised of a pneumatic actuator 3, a hydraulic actuator, a dampeningfluid path 24 e, and a dampening fluid flow governor means 27.

The pneumatic actuator 3 is further composed of a pneumatic actuatorhousing unit that further comprises a hollow cylindrical body 6, a frontclosure 9, fixedly mounted at the front end of the hollow cylindricalbody 6, a rear closure 12 fixedly mounted at the rear end of the hollowcylindrical body 6, and a pneumatic actuator actuation means 15 (formedas a cylindrical plunger) with a rod 18. The pneumatic actuatoractuation means 15 are slidably disposed inside the hollow cylindricalbody 6 and divide the active volume inside the pneumatic actuatorhousing unit into chamber 45 a and chamber 45 b.

The front closure 9 is formed with an air channel 39, and the rearclosure 12 is formed with an air channel 42. Through the channels 39 and42 compressed air can be provided to the chambers 45 a and 45 brespectively, to power the pneumatic actuator actuation means 15.

The hydraulic actuator is further composed of a hydraulic actuatorhousing unit and a hydraulic actuator actuation means 21 with a doublerod 30. The hydraulic actuator housing unit is further comprised of ahollow cylindrical body 60, a front closure 33, fixedly mounted at thefront end of the hollow cylindrical body 60, and a rear closure 36,fixedly mounted at the rear end of the hollow cylindrical body 60. Thehydraulic actuator actuation means 21 is slidably disposed inside thehollow cylindrical body 60 and divide the active volume of the hydraulicactuator housing unit into a first hydraulic chamber 48 a and a secondhydraulic chamber 48 b.

The double rod 30 has the same diameter on both sides of the hydraulicactuator actuation means 21, which makes a zero volumetric differentialhydraulic actuator.

The hydraulic actuator is mounted alongside the pneumatic actuator 3with the hydraulic actuator housing unit fixedly clamped to thepneumatic actuator housing unit with a bracket means 66 and a fastenermeans 69 in a such manner that the main axis of the rod 18 and the mainaxis the double rod 30 are parallel to each other.

The end of the rod 18 is fixedly connected to the front end of thedouble rod 30 with a bracket means 75 and threaded fastener means 72 and78 so to allow only simultaneous linear displacement of both thepneumatic actuator and hydraulic actuator actuation means 15 and thehydraulic actuator actuation means 21.

The dampening fluid path 24 e is formed with an inlet (not shown) forfilling the active volume of the hydraulic actuator and all the adjacenthydraulic cavities with a suitable dampening fluid. The dampening fluidpath 24 e connects the first hydraulic chamber 48 a with the secondhydraulic chamber 48 b. Both, the first hydraulic chamber 48 a and thesecond hydraulic chamber 48 b and all the adjacent hydraulic cavitiesare completely filled with dampening fluid and sealed with sealing means(not shown).

The dampening fluid flow governor means 27 is placed in the dampeningfluid path 24 e in the way of the dampening fluid corresponding betweenthe hydraulic chambers 48 a and 48 b. Per the third embodiment of thepresent invention a pneumatically controlled shut-off valve 63 and anadjustable needle valve 57 connected in series carry the function of thedampening fluid flow governor means 27. The shut-off valve is utilizedto enable an accurate positioning control in addition to the adjustabledampening provided by the needle valve 57.

Due to the rigid connection between the rod 18 and the double rod 30 thehydraulic actuator actuation means 21 actuates simultaneously with thepneumatic actuator actuation means 15. During actuation the hydraulicactuator actuation means 21 forces the transfer of dampening fluidbetween the first and second hydraulic chambers 48 a and 48 b. Thedampening fluid transfer between the chambers 48 a and 48 b takes placethrough the dampening fluid path 24 e and the dampening fluid flowgovernor means 27, where hydraulic locking and dampening of thepneumatic actuator 3 effectively occur.

Utilization of the hydraulic actuator with zero volumetric differentialallows for hydraulic locking and dampening with a self-containedhydraulic actuator free from the compressibility effect and, thus,offering the advantages of smooth and free of creeping displacement,steady positioning and design simplicity.

FIG. 4 shows a longitudinal sectional view of a hydropneumatic actuatorper the fourth embodiment of the present invention.

The hydropneumatic actuator of the fourth embodiment is generallycomprised of a pneumatic actuator 3, a hydraulic actuator, a dampeningfluid path 24 f, and a dampening fluid flow governor means 27.

The pneumatic actuator 3 is further composed of a pneumatic actuatorhousing unit that comprises a hollow cylindrical body 6, a front closure9, fixedly mounted at the front end of the hollow cylindrical body 6, arear closure 12, fixedly mounted at the rear end of the hollowcylindrical body 6, and a pneumatic actuator actuation means 15 (formedas a plunger) with a rod 18. The pneumatic actuator actuation means 15is slidably disposed inside the hollow cylindrical body 6 and divide thechamber of the pneumatic actuator housing unit into chamber 45 a andchamber 45 b.

The front closure 9 is formed with air channel 39, and the rear closure12 is formed with air channel 42 through which compressed air can beprovided to the chambers 45 a and 45 b respectively to power thepneumatic actuator actuation means 15.

According to the fourth embodiment of the present invention thehydraulic actuator is mounted externally in line with the pneumaticactuator 3. The hydraulic actuator is further composed of a hydraulicactuator housing unit and a hydraulic actuator actuation means 21 formedwith a double rod 30. The hydraulic actuator housing unit is furthercomprised of a hollow cylindrical body 60, a front closure 33, fixedlymounted at the front end of the hollow cylindrical body 60, and a rearclosure 38, fixedly mounted at the rear end of the hollow cylindricalbody 60.

The hydraulic actuator actuation means 21 is slidably disposed insidethe hollow cylindrical body 60, and divides active volume of thehydraulic actuator into a first hydraulic chamber 48 a and a secondhydraulic chamber 48 b.

The double rod 30 has a constant diameter equal on both sides of thehydraulic actuator actuation means 21, which makes the hydraulicactuator a zero volumetric differential hydraulic actuator.

The hydraulic actuator front closure 33 is fixedly connected topneumatic actuator rear closure 12 with a plurality of threaded fastenermeans 81.

The front end of the double rod 30 of the hydraulic actuator air-tightlyextends through the axial hole in the center of the rear closure 12, andfixedly connected to the rear end of the pneumatic actuator actuationmeans 15 to allow only simultaneous linear displacements of both thepneumatic actuator actuation means 15 and the hydraulic actuatoractuation means 21.

This type of connection should not be construed as limitations on thescope of the present invention. In fact, it is widely optional. Forexample, the connection can be also made by clamping, pressing, swaging,gluing, welding, brazing, using threaded fasteners, etc.

The dampening fluid path 24 f is formed with an inlet (not shown) forfilling the active volume of the hydraulic actuator and all of theadjacent hydraulic cavities with a suitable dampening fluid, andprovides a connection between the first hydraulic chamber 48 a and thesecond hydraulic chamber 48 b. Both, the first hydraulic chamber 48 aand the second hydraulic chamber 48 b and all adjacent hydrauliccavities are completely filled with dampening fluid and sealed withsealing means (not shown).

The dampening fluid flow governor means 27 is placed in dampening fluidpath 24 f in the way of the dampening fluid corresponding between thehydraulic chambers 48 a and 48 b. Per the fourth embodiment of thepresent invention a pneumatically controlled shut-off valve 63 carriesthe function of the dampening fluid flow governor means 27. The shut-offvalve 63 is utilized to enable accurate positioning control.

Due to the rigid connection between the rod 18 and the double rod 30 thehydraulic actuator actuation means 21 actuate simultaneously with thepneumatic actuator actuation means 15. During actuation the hydraulicactuator actuation means 21 effectively force transfer of the dampeningfluid between the first and the second hydraulic chambers 48 a and 48 b.The dampening fluid transfer between the chambers 48 a and 48 b takesplace through the dampening fluid path 24 f and the dampening fluid flowgovernor means 27 where hydraulic locking and dampening of the pneumaticactuator 3 effectively occurs.

Utilization of the hydraulic actuator with zero volumetric differentialallows for hydraulic locking and dampening with a self-containedhydraulic actuator free from the compressibility effect and, thus,offering the advantages of smooth and free of creeping displacement,steady positioning and design simplicity.

FIG. 5 shows a longitudinal sectional view of a hydropneumatic actuatorper the fifth embodiment of the present invention. As it will becomeapparent from the ensuing description, in the fifth embodiment of thepresent invention the function of the positive-displacement dampeninghydraulic actuator with zero volumetric differential is carried by adifferent type of positive-displacement device.

The hydropneumatic actuator per the fifth embodiment is generallycomprised of a pneumatic actuator 3, a hydraulic actuator, a dampeningfluid path 24 g, and dampening fluid flow governor means 27.

The pneumatic actuator 3 is further composed of a pneumatic actuatorhousing unit that is comprised of a hollow cylindrical body 6, a frontclosure 9 fixedly mounted at the front end of the hollow cylindricalbody 6, a rear closure 12 fixedly mounted at the rear end of the hollowcylindrical body 6, and pneumatic actuator actuation means 15 (formed asa cylindrical plunger) with a rod 18. The pneumatic actuator actuationmeans 15 is slidably disposed inside the hollow cylindrical body 6 anddivide the chamber inside the pneumatic actuator housing unit into achamber 45 a and a chamber 45 b.

The front closure 9 is formed with the air channel 39, and the rearclosure 12 is formed with the air channel 42. Through the air channels39 and 42 compressed air can be provided to the chambers 45 a and 45 brespectively to actuate the pneumatic actuator actuation means 15.

The front closure 9 is further formed with a first hydraulic channel 84,and the rear closure 12 is further formed with a second hydraulicchannel 87. As it will become apparent from the ensuing description, thefirst and the second hydraulic channels 84 and 87 allow the front andthe rear closures 9 and 12 to form a hydraulic actuator housing unit.

The hydraulic actuator comprises the hydraulic actuator housing unit andtwo hydraulic actuator actuation means 90 and 93. According to the fifthembodiment of the present invention the hydraulic actuator actuationmeans 90 and 93 are formed of bellows made out of a suitable material(metallic, plastic, composition, etc.) each with one sealed terminal endin contact with the pneumatic actuator actuation means 15 and one openinlet end. The open inlet end of the hydraulic actuator actuation means90 is air-tightly assembled (for example by gluing, welding, brazing,etc.) to the front closure 9 in such manner that the hydraulic channel84 is connected to the first hydraulic chamber 48 a of the hydraulicactuator actuation means 90. The open inlet end of the hydraulicactuator actuation means 93 is air-tightly assembled (for example bygluing, welding, brazing, etc.) to the front closure 12 in such mannerthat the hydraulic channel 87 is connected to the first hydraulicchamber 48 b of the hydraulic actuator actuation means 93.

The dampening fluid path 24 g is formed with an inlet (not shown) forfilling the active volume of the hydraulic actuator and all adjacenthydraulic cavities with a suitable dampening fluid. The dampening fluidpath 24 g provides a connection between the first hydraulic chamber 48 aand the second hydraulic chamber 48 b. Both, the first hydraulic chamber48 a and the second hydraulic chamber 48 b and all adjacent hydrauliccavities are completely filled with dampening fluid and sealed withsealing means (not shown).

The dampening fluid flow governor means 27 are placed in the middle ofthe dampening fluid path 24 g in the way of the dampening fluidcorresponding between the first and second hydraulic chambers 48 a and48 b. Per the fifth embodiment of the present invention the dampeningfluid flow governor means 27 is an electrically controlled shut-offvalve 64, which enables the hydropneumatic actuator of the fifthembodiment to make rapid and accurate stops in any required position.

In order to achieve zero volumetric differential of the hydraulicactuator the hydraulic actuator actuation means 90 and 93 areconstructed so to have equal volumetric to linear displacement ratiosthat can be mathematically described by the following equation:$\frac{V_{48a}}{l_{48a}} = \frac{V_{48b}}{l_{48b}}$

Where:

V_(48a)—a volumetric change of the first hydraulic chamber 48 a;

I_(48a)—a linear displacement of the hydraulic actuator actuation means90;

V_(48b)—a volumetric change of the second hydraulic chamber 48 bassociated with the volumetric change V_(48a) of the first hydraulicchamber 48 a;

I_(48b)—a linear displacement of the hydraulic actuator actuation means93 associated with the linear displacement I_(48a) of the hydraulicactuator actuation means 90.

Both hydraulic actuator actuation means 90 and 93 remain in perpetualcontact with the pneumatic actuator actuation means 15.

When the pneumatic actuator actuation means 15 moves forward itcompresses the hydraulic actuator actuation means 90, and causes anegative linear displacement I_(48a) of the hydraulic actuator actuationmeans 90 and a corresponding displacement of dampening fluid from thefirst hydraulic chamber 48 a.

The volume of dampening fluid displaced by the first hydraulic chamber48 a is equal to the associated volumetric increase V_(48b) of thesecond hydraulic chamber 48 b of the hydraulic actuator actuation means93 due to the intake of the dampening fluid displaced by the firsthydraulic chamber 48 a.

The associated volumetric increase V_(48b) results in the correspondingpositive linear displacement I_(48b) of the hydraulic actuator actuationmeans 93, which, by the absolute value is equal to the absolute value ofthe original negative linear displacement I_(48a) of the hydraulicactuator actuation means 90.

When the pneumatic actuator actuation means 15 moves rearward itcompresses the hydraulic actuator actuation means 93, and causes anegative linear displacement I_(48b) of the hydraulic actuator actuationmeans 93 and a corresponding displacement of dampening fluid from thesecond hydraulic chamber 48 b.

The volume of dampening fluid displaced by the second hydraulic chamber48 b is equal to the associated volumetric increase V_(48a) of the firsthydraulic chamber 48 a of the hydraulic actuator actuation means 90 dueto the intake of the dampening fluid displaced by the second hydraulicchamber 48 b.

The associated volumetric increase V_(48a) results in the correspondingpositive linear displacement I_(48a) of the hydraulic actuator actuationmeans 90, which is, by the absolute value, equal to the originalnegative linear displacement I_(48b) of the hydraulic actuator actuationmeans 93.

Taking into consideration the above equation, it becomes apparent thatwith any direction and amount of linear displacement by the pneumaticactuator actuation means 15 the volume of dampening fluid expelled bydeflated hydraulic actuator actuation means (90 or 93) will alwaysremain equal to the volume of dampening fluid received by the inflatedhydraulic actuator actuation means (93 or 90).

These conditions allow to maintain a volumetric balance of dampeningfluid transferred between the first and second hydraulic chambers (48 aand 48 b) of the hydraulic actuator, or, in other words, make thehydraulic actuator utilized by the fifth embodiment of this invention azero volumetric differential hydraulic actuator.

During dampening fluid transfer between the hydraulic chambers 48 a and48 b the hydraulic dampening effectively occurs in the dampening fluidflow governor means 27. The utilization of the hydraulic actuator withzero volumetric differential allows to achieve hydraulic locking anddampening with a self-contained hydraulic actuator that is free from thecompressibility effect, and thus, offers the advantages of smooth andfree of creeping displacement, steady positioning and design simplicity.

FIG. 6a and FIG. 6b show a longitudinal sectional view of ahydropneumatic actuator per the sixth embodiment of the presentinvention.

The hydropneumatic actuator per the sixth embodiment is generallycomprised of a pneumatic actuator 3, a hydraulic actuator, a dampeningfluid path 24 h, and dampening fluid flow governor means 27.

The pneumatic actuator 3 is further composed of a pneumatic actuatoractuation means 15 (formed as a cylindrical plunger) with a rod 18, anda pneumatic actuator housing unit that is comprised of a hollowcylindrical body 6, a front closure 9, fixedly mounted at the front endof the hollow cylindrical body 6, a rear closure 12, fixedly mounted atthe rear end of the hollow cylindrical body 6. The pneumatic actuatoractuation means 15 are slidably disposed inside the hollow cylindricalbody 6 and divide the active volume of the chamber inside the pneumaticactuator housing unit into chamber 45 a and chamber 45 b.

The front closure 9 is formed with an air channel 39, and the rearclosure 12 is formed with an air channel 42. Through the air channels 39and 42 compressed air can be provided to the chambers 45 a and 45 brespectively to power the pneumatic actuator.

The hydraulic actuator comprises a hydraulic actuator housing unit andhydraulic actuator actuation means 21, which according to the sixthembodiment of the present invention, is presented by a thin flexiblediaphragm made out of a suitable material (metallic, plastic,composition, etc.) with a detached double rod 30. The double rod 30 ofthe hydraulic actuator actuation means 21 has a constant diameter equalon both sides of the diaphragm.

The hydraulic actuator housing unit is further composed of a shell 96,and the rear closure 12 of the pneumatic actuator 3. The shell 96 isformed with a cylindrical depression that faces the rear closure 12. Therear closure 12 has an external rear surface formed with an identicalcylindrical depression the diameter of which is equal to the diameter ofthe cylindrical depression of the shell 96. The shell 96 and the rearclosure 12 form the hydraulic actuator housing unit by being heldtogether with fastener means (not shown).

The hydraulic actuator actuation means 21 is disposed and fixedlycompressed between the shell 96 and the rear closure 12, and thus, sealsthe perimeter of the two incorporated cylindrical depressions of theshell 96 and of the rear closure 12, whereby the hydraulic actuatoractuation means 21 divide the hydraulic chamber formed by the twocylindrical depressions into a first hydraulic chamber 48 a and a secondhydraulic chamber 48 b.

The shell 96 is further formed with an axial hole through whichair-tightly extends the rear end of the double rod 30.

The equal diameter of the rear closure's 12 and the shell's 96cylindrical depressions together with the equal diameter of the doublerod 30 on both sides of the hydraulic actuator actuation means 21, and anegligible small thickness of the hydraulic actuator actuation means 21allow to obtain conditions of a hydraulic actuator with zero volumetricdifferential.

The rear closure 12 is further formed with a first segment of thedampening fluid path 24 h, and an inlet 102 for filling the hydraulicchamber of the hydraulic actuator and all the adjacent hydrauliccavities with a suitable dampening fluid.

The shell 96 is further formed with a second segment of the dampeningfluid path 24 h.

The first and the second segments of the dampening fluid path 24 h areconnected through a dampening fluid flow governor means 27 built intothe shell 96, and together form the dampening fluid flow path 24 h. Perthe sixth embodiment of the present invention the function of thedampening fluid flow governor means 27 is carried by a pneumaticallycontrolled shut-off valve 63 and a permanent orifice 51 connected inseries.

Both, the first hydraulic chamber 48 a and the second hydraulic chamber48 b and all the adjacent hydraulic cavities are completely filled withdampening fluid and sealed with sealing means 105, which, per the sixthembodiment of the present invention, is an airtight threaded plug.

The front end of the double rod 30 air-tightly extends through the axialhole of the rear closure 12 of the pneumatic actuator 3. Further, thefront end of the double rod 30 is fixedly connected to pneumaticactuator actuation means 15 to enable simultaneous linear displacementsof pneumatic actuator actuation means 15 and hydraulic actuatoractuation means 21. During actuation the pneumatic actuator actuationmeans 15 through the hydraulic actuator actuation means 21 effectivelyforce transfer of the dampening fluid between the first and secondhydraulic chambers 48 a and 48 b, and therefore, provide dampening ofthe pneumatic actuator.

FIGS. 7a-7 d show isometric views of a rotary type hydropneumaticactuator according to the seventh embodiment of the present invention.

The hydropneumatic actuator per the seventh embodiment of the presentinvention generally comprises a pneumatic actuator 3 (shown on FIG. 7a)a hydraulic actuator, a dampening fluid path 24 i (shown on FIG. 7b andFIG. 7d), and a dampening fluid flow governor means 27 (shown on FIG. 7band FIG. 7d).

The pneumatic actuator 3 is composed of a pneumatic actuator housingunit (which further comprises of a body 111, a front closure 114 and arear closure 117), and a pneumatic actuator actuation means 15.

The body 111 is a formed parallelepiped with an internal axial throughcut, which is shaped as a cylindrical hole with two inwardly propagatedidentical triangular ribs 120 a and 120 b (shown on FIG. 7b and FIG.7c). The ribs 120 a and 120 b are positioned diametrically opposite toeach other.

The front closure 114 is fixedly mounted at the front end of the body111, and the rear closure 117 is fixedly mounted at the rear end of thebody 111. Both, the front closure 114 and the rear closure 117 areassembled to the body 111 with four identical fastener means 123.

The pneumatic actuator actuation means 15 are formed of a rotor 126(shown on FIG. 7b and FIG. 7c) with a shaft 129.

The rotor 126 is slidably disposed inside said axial through cut of thebody 111 (so to allow rotational reciprocation of the rotor 126 insidethe body 111), whereby the space inside the pneumatic actuator housingunit is divided by the rotor 126 and the two ribs 120 a and 120 b intochambers 132 a, 132 b, 132 c, and 132 d (shown on FIG. 7b and FIG. 7c).The chambers 132 a, 132 b, 132 c, and 132 d are slidably sealed fromeach other with sealing means (not shown). Types and design arrangementsof the sealing means are not limited by the scope of this invention; forinstance, they can be served by polymer gaskets, elastic fins, etc.

The body 111 is further formed with channels 141 and 144 (shown in FIG.7c). Through the channels 141 and 144 compressed air can be provided tothe chambers 132 b and 132 a respective to power

Thus, the body 111 with the channels 141 and 144, the front closure 114and the rear closure 17, the four fastener means 123, and the rotor 126with the shaft 129 form said pneumatic actuator 3 with two pneumaticworking chambers 132 a and 132 b.

According to the seventh embodiment of the present invention, thedescribed above housing unit of the pneumatic actuator 3 and thepneumatic actuator actuation means 15 simultaneously serve functions ofa housing unit for the hydraulic actuator and a hydraulic actuatoractuation means subsequently.

The hydraulic actuator of the seventh embodiment is composed of ahydraulic actuator housing unit (sheared with pneumatic actuator), and apneumatic actuator actuation means 15 (sheared with pneumatic actuatoras well).

The dampening fluid path 24 i (shown on FIG. 7b and FIG. 7d) and thedampening fluid flow governor means 27 are assembled in a governor meansblock 108, which is formed with two ports: a port 153 and a port 156(shown on FIG. 7b, FIG. 7c and FIG. 7d). The dampening fluid path 24 aconnects the ports 153 and 156 together through the governor means 27.The governor means block 108 is mounted onto the body 111 with fouridentical fastener means 159.

The body 111 is further formed with a channel 147 (shown on FIG. 7b andFIG. 7c) with the first end of the channel 147 connected to the chamber132 c, which is by essence a first hydraulic chamber, and the second endof the channel 147 connected to the port 153 of the governor means block108, and a channel 150 (shown on FIG. 7b) with the first end of thechannel 150 connected to the chamber 132 d, which is by essence a secondhydraulic chamber, and the second end of the channel 150 connected tothe port 153 of the governor means block 108.

The body 111 is further formed with an inlet (not shown) for filling thechambers 132 c and 132 d, and all adjacent hydraulic cavities with asuitable dampening fluid. Thus, the chamber 132 c carries the functionof the first hydraulic chamber and the chamber 132 d carries thefunction of the second hydraulic chamber. The first hydraulic chamber132 c, the second hydraulic chamber 132 d, and all adjacent hydrauliccavities are completely filled with dampening fluid and sealed withsealing means (not shown).

The assembly of the body 111, formed with the channels 147 and 150, thefront closure 114, the rear closure 117, the four fastener means 123,and the rotor 126, formed with the shaft 129, further composes saidhydraulic actuator.

The design arrangement of the seventh embodiment, in which the rotor 126and the axial through cut of the body 111 are of symmetrical geometry,allows to form a hydraulic actuator with zero volumetric differential inwhich the volume of dampening fluid displaced from one chamber (132 c or132 d) is always equal to the volume of dampening fluid received by theopposite chamber (132 d or 132 c).

When compressed air is let into the channel 141 and further into thechamber 132 b it causes rotor 126, which at this moment carries thefunction of pneumatic actuator actuation means, to rotatecounterclockwise. And, respectively, when compressed air is let into thechannel 144 and further into the chamber 132 a it causes the rotor 126to rotate clockwise. During the counterclockwise rotation the rotor 126(which at the same time carries the function of hydraulic actuatoractuation means) simultaneously causes dampening fluid transfer from thesecond hydraulic chamber 132 d to the first hydraulic chamber 132 c.During the clockwise rotation, the rotor 126 causes reverse directiontransfer of dampening fluid.

During dampening fluid transfer between the hydraulic chambers 132 c and132 d dampening fluid passes through the dampening fluid flow governormeans 27 a, whereby takes place dampening of the rapid speed changes andcreeping that naturally occur in the pneumatically powered rotor 126.

The hydropneumatic actuators encompassed in all the above embodimentsrepresent only one type design arrangement with which the novel conceptof the present invention is utilized. This is a type of designarrangement in which any relative displacement of a pneumatic actuatorhousing unit with respect to a pneumatic actuator actuation means isdirectly translated into an equal relative displacement of a hydraulicactuator housing unit with respect to a hydraulic actuator actuationmeans.

FIGS. 8-11 show four different isometric views of a hydropneumaticactuator according to the eighth embodiment of the present invention.

In the hydropneumatic actuator of the to eighth embodiment the novelconcept of the present invention is utilized in combination with such adesign arrangement in which a displacement occurring in pneumaticactuator translated proportionally into a displacement of hydraulicactuator using mechanical transmission means.

The hydropneumatic actuator per the eighth embodiment of this inventiongenerally comprises a pneumatic actuator 3, a hydraulic actuator, adampening fluid path 24 j (partially shown on FIG. 11), and a dampeningfluid flow governor means 27 (shown on FIG. 11). The pneumatic actuator3, according to the eighth embodiment of this invention, is comprised ofa pneumatic actuator housing unit and pneumatic actuator actuation means(shown on FIG. 9).

The pneumatic actuator housing unit is further comprised of a body 165,a pneumatic front plug 168, a pneumatic rear plug 171 (shown on FIG. 9and FIG. 10). The pneumatic actuator actuation means is furthercomprised of two pistons 174 a and 174 b fixedly connected through agear rack 177 (shown on FIG. 9 and FIG. 10) positioned between them, anda rod 180.

As shown on FIG. 9, the body 165 is formed with a first cylindricalthrough bore threaded at both ends. The pneumatic actuator actuationmeans is slidably disposed inside said first cylindrical bore.

The pneumatic front plug 168 and the pneumatic rear plug 171 areair-tightly threaded into the threaded ends of the first bore, wherebytwo pneumatic chambers 183 a and 183 b are formed inside the pneumaticactuator housing unit.

The body 165 is further formed with channels 186 a and 186 b. Throughthe channel 186 a compressed air can be provided to the chamber 183 a,and through the channel 186 b compressed air can be provided to thechamber 183 b to actuate the pneumatic actuator actuation means.

The hydraulic actuator, according to the eighth embodiment of thisinvention, is comprised of a hydraulic actuator housing unit and ahydraulic actuator actuation means, (shown on FIG. 10 and FIG. 11). Thehydraulic actuator housing unit is further comprised of a body 165(shared with pneumatic actuator), a hydraulic plug 189 a (shown on FIG.10 and FIG. 11), and a hydraulic plug 189 b (shown on FIG. 10). Thehydraulic actuator actuation means is further comprised of two identicalpistons 192 a and 192 b fixedly connected through a gear rack 195 (shownon FIG. 10 and FIG. 11) positioned between them.

As shown on FIG. 10 and FIG. 11, the body 165 is further formed with asecond cylindrical through bore threaded at both ends. The hydraulicactuator actuation means are slidably disposed inside said secondcylindrical bore, and hydraulic plugs 189 a and 189 b are air-tightlythreaded into the threaded ends of the second bore, whereby a firsthydraulic chamber 198 a and a second hydraulic chamber 198 b are formedinside the hydraulic actuator housing unit.

The dampening fluid path 24 j (partially shown on FIG. 11) comprises twosymmetrical hydraulic channels formed in the body 165. The firsthydraulic channel (shown on FIG. 11) connects the first hydraulic port201 a to the first hydraulic chamber 198 a. The second hydraulic channel(not shown) connects the second hydraulic port 201 b to the secondhydraulic chamber 198 b.

The first hydraulic port 201 a and the second hydraulic port 201 b areinterconnected through the dampening fluid flow governor means 27 (shownon FIG. 11). Per the eighth embodiment of the present invention, thedampening fluid flow governor means 27 is an adjustable needle valve 57that allows for fine adjustment to the rate of dampening fluid flow.

The body 165 is further formed with an inlet 204 (shown on FIG. 10 andFIG. 11) for filling the first and the second hydraulic chambers 198 aand 198 b, and all adjacent cavities with a suitable dampening fluid.The first hydraulic chamber 198 a, second hydraulic chamber 198 b, andall adjacent cavities are completely filled with dampening fluid andsealed with sealing means 207.

The design arrangement of the eighth embodiment of the presentinvention, in which the two pistons 192 a and 192 b have the same outerdiameter and active displacement area, allows to form a hydraulicactuator with zero volumetric differential.

The function of the mechanical transmission means of the eighthembodiment of the present invention is carried by a rack-and gear drive(shown on FIGS. 9-11), which is composed of said gear rack 177, saidgear rack 195, a gear wheel 210, a gear wheel 213, and a shaft 216 (onwhich both gear wheels 210 and 213 are fixedly mounted). The shaft 216is supported in the body 165 (for example with two bushings).

The gear rack 177, being a solid of part of the pneumatic actuatoractuation means, is mechanically coupled to the gear wheel 210 andfurther through the shaft 216 and the gear wheel 213 is mechanicallycoupled to the gear rack 195, which is a solid of part of the hydraulicactuator actuation means. Thus, the described chain provides translationof the pneumatic actuator actuation means displacement into thehydraulic actuator actuation means displacement at a constant ratiodetermined by the ratio of the mechanical transmission means used.

The main goal of mechanical transmission means utilization is tominimize the stroke of hydraulic actuator actuation means, dimensions ofthe required hydraulic actuator, and therefore, the overall dimensionsof the hydropneumatic actuator according to this invention. Theadditional benefits of having the mechanical transmission means is thepossibility of obtaining multiple forms of actuation by the samehydropneumatic actuator.

When compressed air is let into the channel 186 a and further into thechamber 192 a, or into the channel 186 b and then into the chamber 192 bit causes linear displacement of the pneumatic actuator actuation means.Further, through the gear rack 177 coupled to the gear wheel 210 thelinear displacement of the pneumatic actuator actuation means istranslated into rotary displacement of the shaft 216. From the shaft 216through the gear wheel 213 and the gear rack 195 coupled to the gearwheel 213 the rotary displacement is further translated into lineardisplacement of the hydraulic actuator actuation means. The lineardisplacement of the hydraulic actuator actuation means causes dampeningfluid transfer between the hydraulic chambers 192 a and 192 b of thehydraulic actuator.

During dampening fluid transfer between the hydraulic chambers 192 a and192 b dampening fluid passes through the dampening fluid flow governormeans 27, whereby dampening of rapid speed changes and creepingnaturally occurring in the pneumatic actuator takes place.

FIG. 12a and FIG. 12b show an isometric view of a hydropneumaticactuator according to the ninth embodiment of the present invention.

The design arrangement of the ninth embodiment is generally similar tothe design arrangement of the eighth embodiment for which reason thepart of the arrangement identical to the one described above is not showon FIG. 12a and FIG. 12b.

The hydropneumatic actuator per the ninth embodiment of this inventiongenerally comprises a pneumatic actuator 3, a hydraulic actuator, anddampening fluid path and a dampening fluid flow governor means 27. Thedampening fluid path of the ninth embodiment is combined with thedampening fluid flow governor means 27.

The pneumatic actuator 3, according to the ninth embodiment of thisinvention, is comprised of a pneumatic actuator housing unit andpneumatic actuator actuation means (not shown) identical to thepneumatic actuator actuation means of the eighth embodiment (shown onFIG. 9). The pneumatic actuator housing unit is further comprised of abody 165, a pneumatic front plug 168, and a pneumatic rear plug 174identical to the pneumatic rear plug 171 of the eighth embodiment.

The pneumatic actuator actuation means is fixedly connected to a gearrack 177, which is further mechanically coupled to a gear wheel 210 andfurther through the shaft 216 and the gear wheel 213 mechanicallycoupled to the gear rack 195.

The hydraulic actuator of the ninth embodiment is composed of ahydraulic actuator housing unit and a hydraulic actuator actuation means21 formed with a double rod 30. The hydraulic actuator housing unit isfurther comprised of a hollow cylindrical body 60 formed with the gearrack 195, and a rear closure (not shown) fixedly mounted at the rear endof the hollow cylindrical body 60. The hydraulic actuator actuationmeans 21 is slidably disposed inside the hollow cylindrical body 60 anddivide the active volume of the hydraulic actuator housing unit into afirst hydraulic chamber 48 a and a second hydraulic chamber 48 b.

The double rod 30 has the same diameter on both sides of the hydraulicactuator actuation means 21 therefore is a zero volumetric differentialhydraulic actuator.

The front end and the rear end of the double rod 30 are fixedly clampedbetween a front closure and a rear closure of the hydraulic actuator(186 a and 186 b respectively) threaded into the body 165. Thus, thehydraulic actuator actuation means 21 remains fixedly joined with thepneumatic actuator housing unit described.

According to the ninth embodiment of the present invention, the functionof the dampening fluid flow governor means 27 is carried by a permanentorifice 51 formed as a small diameter bore drilled through the hydraulicactuator actuation means 21. Simultaneously the permanent orifice 51serves the function of the dampening fluid path allowing the dampeningfluid to communicate between the two hydraulic chambers 48 a and 48 b.

The body 165 is further formed with channels 186 a and 186 b. Throughthe channels 186 a and 186 b compressed air can be provided to actuatethe pneumatic actuator actuation means.

The hollow cylindrical body 60 is formed with an inlet (not shown) forfilling the first and the second hydraulic chambers 48 a and 48 b, andall adjacent cavities with a suitable dampening fluid. The firsthydraulic chamber 48 a, second hydraulic chamber 48 b, and all adjacentcavities are completely filled with dampening fluid and sealed withsealing means (not shown).

The pneumatic actuator actuation means of the ninth embodiment ismechanically coupled with the hydraulic actuator housing unit. Thefunction of the mechanical transmission means of the ninth embodiment ofthe present invention is carried by a rack-and gear drive composed ofthe gear rack 177, said gear rack 195, a gear wheel 210, a gear wheel213, and a shaft 216 (on which both gear wheels 210 and 213 are fixedlymounted). The shaft 216 is supported in the housing unit 165 (forexample with two bushings).

When compressed air is let into the channel 186 a with simultaneousexhaust provided form the channel 186 b, or into the channel 186 b withsimultaneous exhaust provided from the channel 186 a, it causes lineardisplacement of the pneumatic actuator actuation means fixedly attachedto the gear rack 177. Further, the linear displacement of the gear rack177 is being translated into rotary displacement of the gear wheel 210mechanically coupled with the gear rack 177. The rotary displacement ofthe gear wheel 210 is further being translated into rotary displacementof the shaft 216, and yet further from the shaft 216 through the gearwheel 213 into linear displacement of the gear rack 195 coupled to thegear wheel 213.

This linear displacement of the gear rack 195 and, therefore, of thehydraulic actuator housing unit occurring with respect to the hydraulicactuator actuation means causes dampening fluid transfer between thehydraulic chambers 48 a and 48 b of the hydraulic actuator.

During dampening fluid transfer between the hydraulic chambers 48 a and48 b dampening fluid passes through the dampening fluid flow governormeans 27, whereby dampening of rapid speed changes and creeping takesplace.

Naturally, the design arrangement of the ninth embodiment as well as allof the above embodiments is not intended to limit the present invention.For example, different types of lever motion mechanisms for instancesuch as cam-shaft mechanisms, etc. could be optionally utilized formechanical transmission means. The shaft 216 such as shown on FIGS. 8,9, 10, 11, 12 a and 12 b of the eighth and ninth embodiments could befixedly connected to a rotor of a dampening rotary hydraulic actuatorwith zero volumetric differential.

FIG. 13a shows a longitudinal sectional view of a hydropneumaticactuator according to a tenth embodiment of the present invention.

The hydropneumatic actuator shown on FIG. 13a is generally constructedof linear pneumatic actuator 3, a linear positive-displacement hydraulicactuator, a dampening fluid path combined of dampening fluid pathsegments 24 k, 24 l, 24 m, 24 n, 24 o, 24 p, 24 q and a dampening fluidflow governor means 27.

The pneumatic actuator 3 is further comprised of a pneumatic actuatorhousing unit, composed of a hollow cylindrical body 6, a front closure9, fixedly mounted at the front end of the hollow cylindrical body 6, arear closure 12, fixedly mounted at the rear end of the hollowcylindrical body 6, and a pneumatic actuator actuation means ispresented by a cylindrical plunger formed with a rod 18 slidablydisposed inside the hollow cylindrical body 6.

The pneumatic actuator actuation means 15 divides the active volume ofthe chamber inside the hollow cylindrical body 6 into two chambers:chamber 45 a and chamber 45 b.

The front closure 9 is formed with an air channel 39. The rear closure12 is formed with an air channel 42. Through the air channels 39 and 42compressed air can be provided to the chambers 45 a and 45 brespectively, to power the pneumatic actuator actuation means 15.

The rod 18 of the pneumatic actuator 3 is formed hollow with an axialcylindrical bore which allows the rod 18 to serve a function of a bodyfor a hydraulic actuator housing unit disposed inside pneumaticactuator.

The hydraulic actuator housing unit further includes a hydraulicactuator front closure 33 (fixedly mounted inside the axial cylindricalbore of the rod 18), and a hydraulic actuator rear closure 36 (fixedlymounted a the rear end of the axial cylindrical bore inside the rod 18).

Thus, the hydraulic actuator housing unit is composed of the hollow rod18 assembled together with the hydraulic actuator front closure 33 andthe hydraulic actuator rear closure 36.

The hydraulic actuator further comprises a hydraulic actuator actuationmeans 21 presented by a cylindrical plunger formed with double rod 30.The hydraulic actuator actuation means 21 is slidably disposed withinthe axial cylindrical bore inside the rod 18, whereby the hydraulicactuator actuation means 21 divides the volume inside the hollowhydraulic actuator housing unit into a first hydraulic chamber 48 a anda second hydraulic chamber 48 b.

The double rod 30 has a constant outside diameter, equal on both sidesof the hydraulic actuator actuation means 21, which allows to achievethe conditions of zero volumetric differential.

The rear segment of the double rod 30 of the tenth embodiment is formedwith an axial bore extending slightly beyond the level of hydraulicactuator actuation means 21. The axial bore is formed with a smallerdiameter at the end to be engaged in a sealing press-fit with a frontend of a tubular member 219. At the rear end of the tubular member 219is rigidly engaged with a plug 222. The plug 222 is simultaneouslyengaged with the inlet end of the axial bore in the rod 30. Bothengagements: between the plug 222 and the tubular member 219, and theplug 222 and the inlet end of the axial bore in the rod 30 arehydraulically sealed. Such an arrangement allows to form two distinctsegments for dampening fluid path: segment 24 l, presented by the innerbore of the tubular member 219, and segment 24 p presented by theannular duct formed by the gap between the inner surface of the axialbore in the rod 30 and the external surface of the tubular member 219.

The rod 30 is further formed with a dampening fluid path segment 24 kand a dampening fluid path segment 24 q. The dampening fluid pathsegment 24 k provides a hydraulic path to the first hydraulic chamber 48a. The dampening fluid path segment 24 q provides a hydraulic path tothe first hydraulic chamber 48 b.

Hydropneumatic actuator, in accordance with the tenth embodiment of thisinvention, further includes the dampening fluid path segment 24 o, whichprovides connection with the segment 24 p.

It will be appreciated that the external disposition of the dampeningfluid flow governor means 27 with respect to the linearpositive-displacement hydraulic actuator is desirable in such instanceswhen a plurality of actuator models is intended on the base of onestandard core sub-assembly. The standard core sub-assembly comprised ofthe linear pneumatic actuator 3, the linear positive-displacementhydraulic actuator, and the dampening fluid path combined of dampeningfluid path segments 24 k, 24 l, 24 o, 24 p, 24 q remains unchanged, andthe variations of actuator models is achieved by a variety of externalinterchangeably detachable modules containing different dampening fluidflow governor means 27.

In accordance with the tenth embodiment of this invention the detachablemodule is composed of a governor means housing 225 formed with dampeningfluid path segments 24 m, 24 n and having the dampening fluid flowgovernor means 27 presented by a permanent orifice 51 disposed betweenthem. The detachable module is fastened to the rear closure 12 withfasteners means (not shown).

The governor means housing 225 is formed with channels (not shown) forfilling the active volume of the hydraulic actuator, all dampening fluidpath segments 24 k, 24 l, 24 m, 24 n, 24 o, 24 p, 24 q and all theadjacent hydraulic cavities with a suitable dampening fluid. The activevolume of the hydraulic actuator and all the adjacent hydraulic cavitiesare completely filled with dampening fluid and sealed with sealing means(not shown).

To convert the displacement generated by the pneumatic actuator into thedisplacement of the hydraulic actuator, the pneumatic and the hydraulicactuators are coupled. In accordance with the tenth embodiment of thisinvention the housing unit of the hydraulic actuator is being coupledwith the pneumatic actuator actuating means due to the fact thatpneumatic actuator actuation means 15 formed with a rod 18 is madehollow and simultaneously performs the function of a body for thehydraulic actuator housing unit. Further, the hydraulic actuatoractuating means 21 are being coupled with the pneumatic actuator housingunit through the rear end of the double rod 30 of the hydraulic actuatoractuation means 21 being sealably connected to the rear closure 12 ofthe pneumatic actuator 3 and secured with a retainer 228 as shown onFIG. 13a.

The front end of the double rod 30 is free to move inside the rod 18 ofthe pneumatic actuator 3.

When compressed air is let into the channel 39 and further to thechamber 45 a it causes the pneumatic actuator actuation means 15 to moverearward. Respectively, when compressed air is let into the channel 42and further to the chamber 45 b it causes the pneumatic actuatoractuation means 15 to move forward.

The hollow rod 18, as a solid part of the pneumatic actuator actuationmeans 15, moves with the pneumatic actuator actuation means 15, and,simultaneously, as a solid part of the hydraulic actuator housing unitmakes a displacement with respect to the hydraulic actuator actuationmeans 21. The hydraulic actuator actuation means 21, being fixedlyconnected to the rear closure 12 through the double rod 30, therefore,remain stationary with respect to the pneumatic actuator housing unit.

During the displacement of the rod 18 with respect to the hydraulicactuator actuation means 21 the dampening fluid contained in the activevolume of the hydraulic actuator is being effectively redistributedbetween the first and the second hydraulic chambers, 48 a and 48 b, ofthe hydraulic actuator. For example, when the pneumatic actuatoractuation means 15 moves forward the dampening fluid is being forcedfrom the second hydraulic chamber 48 b through the dampening fluid pathsegment 24 q and then subsequently through the dampening fluid pathsegments 24 p, 24 o, 24 n, passing the permanent orifice 51, wherebydampening takes place, and further through the dampening fluid pathsegments 24 m, 24 l, 24 k into the first hydraulic chamber 48 a.

FIG. 13b shows a partial enlarged view of the eleventh embodiment. Theeleventh embodiment of the present invention by essence is a modifiedversion analogous to the tenth embodiment described above, howeverhaving detachable module equipped with an adjustable needle valve 57 fordampening fluid flow governor means 27. The needle valve 57 allows finemanual adjustment to the dampening rate.

FIG. 13c shows a partial enlarged view of the twelfth embodiment of thepresent invention, which by essence is yet another modified versionanalogous to the tenth embodiment described above, however equipped witha detachable module including a combination of a shut-off valve 64 and apermanent orifice 51 for dampening fluid flow governor means 27.

In terms of the principle of operation, the actuator of the eleventh andtwelfth embodiments, shown on FIG. 13b and FIG. 13c, remain analogous tothe actuator of the tenth embodiment, shown on FIG. 13a.

FIG. 14 shows a longitudinal sectional view of a hydropneumatic actuatoraccording to a thirteenth embodiment of the present invention.

The hydropneumatic actuator shown on FIG. 14 is yet another designarrangement for a hydropneumatic actuator with a hydraulic actuatordisposed inside of a pneumatic actuator and dampening fluid flowgovernor means disposed externally to hydraulic actuator actuatingmeans. The hydropneumatic actuator per the thirteenth embodiment of thepresent invention generally comprises a pneumatic actuator 3 a hydraulicactuator, a dampening fluid path 24 r, and a dampening fluid flowgovernor means 27.

The pneumatic actuator 3 is further comprised of a pneumatic actuatorhousing unit, composed of a hollow cylindrical body 6, a front closure9, fixedly mounted at the front end of the hollow cylindrical body 6, arear closure 12, fixedly mounted at the rear end of the hollowcylindrical body 6, and two fixedly joint pneumatic actuator actuationmeans 15 a and 15 b (presented by two cylindrical plungers) movablydisposed inside the hollow cylindrical body 6 and thus dividing theactive volume of the chamber inside the hollow cylindrical body 6 intothree chambers.

Chambers 45 a and 45 b are two of the three the chambers inside thehollow cylindrical body 6. Functionally these chambers are the chambersof the pneumatic actuator 3. They are adjacent to the front closure 9and the rear closure 12 respectively.

The front closure 9 is formed with an air channel 39. The rear closure12 is formed with an air channel 42. Through the air channels 39 and 42compressed air can be provided into the chambers 45 a and 45 brespectively, to power the pneumatic actuator actuation means 15 a and15 b. The pneumatic actuator actuation means 15 a is formed with a frontrod 18 (serving the function of a rod for the pneumatic actuator 3) anda rear rod 30 (allowing to fixedly joint together the pneumatic actuatoractuation means 15 a and 15 b).

The hydraulic actuator of the thirteenth embodiment is composed of ahydraulic actuator housing unit and the two hydraulic actuator actuationmeans 15 a and 15 b (shared with the pneumatic actuator 3).

The hydraulic actuator housing unit further consists of the hollowcylindrical body 6 (shared with the pneumatic actuator 3) and a dividingmember 231.

Thus the housing unit of the pneumatic actuator 3 simultaneously servesthe functions of a housing unit for the hydraulic actuator, and thepneumatic actuator actuation means 15 a and 15 b simultaneously servethe functions of a hydraulic actuator actuation means.

The rear rod 30 extends through the dividing member 231 in sealingengagement, thus allowing the dividing member 231 to further divide thelast of the three chambers (located in the middle of the hollowcylindrical body 6) into a first hydraulic chamber 48 a and a secondhydraulic chamber 48 b. In the described arrangement the total volume ofthe chambers 48 a and 48 b remains constant regardless of the axialposition of the hydraulic actuator actuation means 15 a and 15 b,therefore, the dampening hydraulic actuator of the thirteenth embodimentis a true zero volumetric differential hydraulic actuator.

In accordance with the thirteenth embodiment of this invention, thehydropneumatic actuator further includes the dampening fluid path 24 rformed as a bore through the dividing member 231, which provides achannel for dampening fluid to correspond between the first and thesecond hydraulic chambers 48 a and 48 b during the operation. Thechambers 48 a and 48 b of the hydraulic actuator and all the adjacenthydraulic cavities are completely filled with dampening fluid and sealedwith sealing means (not shown).

Further, the hydropneumatic actuator of the thirteenth embodimentincludes the dampening fluid flow governor means 27 installed in serieswith the dampening fluid path 24 r in the way of the flow of dampeningfluid corresponding between the hydraulic chambers 48 a and 48 b togovern the flow rate of dampening fluid during operation. According tothe design arrangement of the thirteenth embodiment, the function of thedampening fluid flow governor means 27 is carried by an adjustableneedle valve 57.

When compressed air is let into the channel 39 and further to thechamber 45 a it causes the pneumatic actuator actuation means 15 a tomove rearward. Respectively, when compressed air is let into the channel42 and further to the chamber 45 b it causes the pneumatic actuatoractuation means 15 b to more forward. During such displacements of thepneumatic actuator actuation means 15 a and 15 b the dampening fluidcontained in the chambers 48 a and 48 b of the hydraulic actuator isbeing effectively redistributed between the hydraulic chambers 48 a and48 of the hydraulic actuator, whereby hydraulic dampening takes place.For example, when the pneumatic actuator actuation means 15 a and 15 bmoves forward the dampening fluid is being forced from the secondhydraulic chamber 48 b through the dampening fluid path 24 r and theadjustable needle valve 57 into the first hydraulic chamber 48 b.

Naturally, the above instances should not be construed as limitations onthe scope of this invention. The devices such as permanent orifices,needle valves, as well as any other types of valves with different typesof control, and different varieties of combinations of such devicescould be optionally utilized for the dampening fluid flow governor meansdepending on technical specifications for particular applications.

The hydropneumatic actuator according to the present invention can bealso equipped with different types of transducers (linear displacementtransducers for determining position of the pneumatic actuator actuationmeans and forming positional feedback, speed transducers, accelerationtransducers, load transducer, etc.) and combinations of them. Many otherelements of the hydropneumatic actuator according to the presentinvention in relation with specifics applications will be obvious tothose skilled in the art.

Therefore, the foregoing is considered as illustrative only of theprinciples of the present invention, and, since numerous modificationswill readily occur to those skilled in the art, it is not desired tolimit the invention to the exact construction and operation shown anddescribed.

What is claimed is:
 1. A hydropneumatic actuator, comprising: a. arotary pneumatic actuator for producing pneumatically powered rotarydisplacement comprising a stationary hollow pneumatic actuator housingunit and at least one pneumatic actuator actuation means movablydisposed inside said pneumatic actuator housing unit, said pneumaticactuator housing unit being formed with at least two channels wherebypneumatic energy is provided to said pneumatic actuator actuation means,b. at least one positive-displacement hydraulic actuator with zerovolumetric differential coupled with said pneumatic actuator so toenable conversion of displacement generated by said rotary pneumaticactuator into displacement of said hydraulic actuator, saidpositive-displacement hydraulic actuator is comprised of at least onehollow hydraulic actuator housing unit and at least one hydraulicactuator actuation means movably disposed within said hydraulic actuatorhousing unit and thereby forming at least one first hydraulic chamberand at least one second hydraulic chamber with both said chambers beingcompletely filled with dampening fluid and permanently sealed toself-contain said dampening fluid, said positive-displacement hydraulicactuator is utilized for transforming rotary displacement generated bysaid pneumatic actuator into positive displacement of said dampeningfluid, c. at least one dampening fluid path for connecting sad fisthydraulic chamber and said second hydraulic chamber, said dampeningfluid path is being completely filled with dampening fluid, and d. atleast one dampening fluid flow governor means for controlling flow rateof dampening fluid transfer through said dampening fluid path betweensaid first hydraulic chamber and said second hydraulic chamber, wherebypneumatically powered rotational actuation of said pneumatic actuatorwill be provided with incompressible, hydraulically governed dampeningand positioning.
 2. The hydropneumatic actuator of claim 1 wherein saidpositive-displacement hydraulic actuator with zero volumetricdifferential disposed inside said pneumatic actuator.
 3. Thehydropneumatic actuator of claim 1 wherein said positive-displacementhydraulic actuator with zero volumetric differential disposed externallyto said pneumatic actuator.
 4. The hydropneumatic actuator of claim 1wherein said positive-displacement hydraulic actuator with zerovolumetric differential is coupled with said pneumatic actuator by saidhydraulic actuator housing unit being coupled with said pneumaticactuator actuation means and said hydraulic actuator actuation meansbeing coupled with said pneumatic actuator housing unit.
 5. Thehydropneumatic actuator of claim 1 wherein said positive-displacementhydraulic actuator with zero volumetric differential is coupled withsaid pneumatic actuator by said hydraulic actuator housing unit beingcoupled with said pneumatic actuator housing unit and said pneumaticactuator actuation means being coupled with said hydraulic actuatoractuation means.
 6. The hydropneumatic actuator of claim 1 wherein saiddampening fluid flow governor means is comprised of at least onepermanent orifice.
 7. The hydropneumatic actuator of claim 1 whereinsaid dampening fluid flow governor means is comprised of at least onevalve means.
 8. The hydropneumatic actuator of claim 1 wherein saiddampening fluid flow governor means is comprised of a combination of atleast one permanent orifice means and at least one valve means.
 9. Thehydropneumatic actuator of claim 1 wherein said hydraulic actuatoractuation means is comprised of at least one first bellows means withinner space forming said first hydraulic chamber and at least one secondbellows means with inner space forming said second hydraulic chamber,wherein said first bellows means having a predetermined volumetric tolinear displacement ratio equal to a volumetric to linear displacementratio of said second bellows means.
 10. The hydropneumatic actuator ofclaim 1 wherein said hydraulic actuator actuation means is comprised ofat least one rotor.